Time-optimal path planning in dynamic flows using level set equations: realistic applications

The level set methodology for time-optimal path planning is employed to predict collision-free and fastest-time trajectories for swarms of underwater vehicles deployed in the Philippine Archipelago region. To simulate the multiscale ocean flows in this complex region, a data-assimilative primitive-equation ocean modeling system is employed with telescoping domains that are interconnected by implicit two-way nesting. These data-driven multiresolution simulations provide a realistic flow environment, including variable large-scale currents, strong jets, eddies, wind-driven currents, and tides. The properties and capabilities of the rigorous level set methodology are illustrated and assessed quantitatively for several vehicle types and mission scenarios. Feasibility studies of all-to-all broadcast missions, leading to minimal time transmission between source and receiver locations, are performed using a large number of vehicles. The results with gliders and faster propelled vehicles are compared. Reachability studies, i.e., determining the boundaries of regions that can be reached by vehicles for exploratory missions, are then exemplified and analyzed. Finally, the methodology is used to determine the optimal strategies for fastest-time pick up of deployed gliders by means of underway surface vessels or stationary platforms. The results highlight the complex effects of multiscale flows on the optimal paths, the need to utilize the ocean environment for more efficient autonomous missions, and the benefits of including ocean forecasts in the planning of time-optimal paths.United States. Office of Naval Research (Grant N00014-09-1-0676 (Science of Autonomy - A-MISSION))United States. Office of Naval Research (Grant N00014-07-1-0473 (PhilEx))United States. Office of Naval Research (Grant N00014-12-1-0944 (ONR6.2))United States. Office of Naval Research (Grant N00014-13-1-0518 (Multi-DA)

Time-optimal path planning in dynamic flows using level set equations: theory and schemes

We develop an accurate partial differential equation-based methodology that predicts the time-optimal paths of autonomous vehicles navigating in any continuous, strong, and dynamic ocean currents, obviating the need for heuristics. The goal is to predict a sequence of steering directions so that vehicles can best utilize or avoid currents to minimize their travel time. Inspired by the level set method, we derive and demonstrate that a modified level set equation governs the time-optimal path in any continuous flow. We show that our algorithm is computationally efficient and apply it to a number of experiments. First, we validate our approach through a simple benchmark application in a Rankine vortex flow for which an analytical solution is available. Next, we apply our methodology to more complex, simulated flow fields such as unsteady double-gyre flows driven by wind stress and flows behind a circular island. These examples show that time-optimal paths for multiple vehicles can be planned even in the presence of complex flows in domains with obstacles. Finally, we present and support through illustrations several remarks that describe specific features of our methodology.United States. Office of Naval Research (Grant N00014-09-1-0676 (Science of Autonomy - A-MISSION))United States. Office of Naval Research (Grant N00014-12-1-0944 (ONR6.2))Natural Sciences and Engineering Research Council of Canada (Postgraduate Fellowship

Abundance analysis of a nitrogen-rich extreme-helium hot subdwarf from the SALT survey

We have performed a detailed spectral analysis of the helium-rich hot subdwarf EC 20187-4939 using data obtained in the SALT survey of helium-rich hot subdwarfs. We have measured its effective temperature, surface gravity and chemical abundances from the spectrum. Its radius has also been determined by fitting the spectral energy distribution using photometric data, from which a mass of 0.44 Msun has been inferred using the measurement of surface gravity. This star is particularly abundant in helium and nitrogen, whilst being both carbon and oxygen-weak. The surface abundances and mass have been found to be consistent with a helium white dwarf merger product. The abundance effects of alpha captures on nitrogen during the merger process and possible connections between EC 20187-4939 and other carbon-weak related objects are discussed.Comment: 10 pages, 5 figures, 5 tables, accepted for publication in MNRA

Differential Adaptation of Human Gut Microbiota to Bariatric Surgery–Induced Weight Loss: Links With Metabolic and Low-Grade Inflammation Markers

International audienceOBJECTIVE Obesity alters gut microbiota ecology and associates with low-grade inflammation in humans. Roux-en-Y gastric bypass (RYGB) surgery is one of the most efficient procedures for the treatment of morbid obesity resulting in drastic weight loss and improvement of metabolic and inflammatory status. We analyzed the impact of RYGB on the modifications of gut microbiota and examined links with adaptations associated with this procedure. RESEARCH DESIGN AND METHODS Gut microbiota was profiled from fecal samples by real-time quantitative PCR in 13 lean control subjects and in 30 obese individuals (with seven type 2 diabetics) explored before (M0), 3 months (M3), and 6 months (M6) after RYGB. RESULTS Four major findings are highlighted: 1) Bacteroides/Prevotella group was lower in obese subjects than in control subjects at MO and increased at M3. It was negatively correlated with corpulence, but the correlation depended highly on caloric intake; 2) Escherichia coli species increased at M3 and inversely correlated with fat mass and leptin levels independently of changes in food intake; 3) lactic acid bacteria including Lacto-bacillus/Leuconostoc/Pediococcus group and Bifidobacterium genus decreased at M3; and 4) Faecalibacterium prausnitzii species was lower in subjects with diabetes and associated negatively with inflammatory markers at MO and throughout the follow-up after surgery independently of changes in food intake. CONCLUSIONS These results suggest that components of the dominant gut microbiota rapidly adapt in a starvation-like situation induced by RYGB while the F. prausnitzii species is directly linked to the reduction in low-grade inflammation state in obesity and diabetes independently of calorie intake. Diabetes 59:3049-3057, 201

The possible impact of aortic stiffness on quality of late life: An exploratory study

Purpose: Aortic stiffness (AS) is associated with cardiovascular events and all-cause mortality in the older population. AS might also influence the health-related quality of life (HRQOL) as a result of the negative effects of AS on cognitive and physical morbidity. We aimed to investigate the possible association between AS and HRQOL in people aged 75 years and over. Patients and Methods: This cross-sectional study was part of the SCOPE study, an international multicenter cohort observational study. The indicators for AS were aortic pulse wave velocity (aPWV) and central pulse pressure (cPP). HRQOL was assessed using the EQ-5D index and the EQ-5D visual analog scale (VAS). ANCOVA and multivariate regression models were used to investigate possible associations. Results: We included 280 Dutch participants of the SCOPE study. Median age was 79 years (IQR 76–83) and 42.1% were women. Participants reporting any problem on the EQ-5D index (n=214) had higher values of aPWV (12.6 vs 12.2 m/s, p = 0.024) than participants not experiencing any problem (n=66) and comparable values of cPP (44.4 vs 42.0 mmHg, p = 0.119). Estimates only slightly changed after adjustments. No association was found between indicators of AS and EQ-5D VAS. Conclusion: Aortic stiffness was associated with impaired quality of late life. This association could be mediated by subclinical vascular pathology affecting mental and physical health

Generalized Huygens principle with pulsed-beam wavelets

Huygens' principle has a well-known problem with back-propagation due to the spherical nature of the secondary wavelets. We solve this by analytically continuing the surface of integration. If the surface is a sphere of radius $R$, this is done by complexifying $R$ to $R+ia$. The resulting complex sphere is shown to be a real bundle of disks with radius $a$ tangent to the sphere. Huygens' "secondary source points" are thus replaced by disks, and his spherical wavelets by well-focused pulsed beams propagating outward. This solves the back-propagation problem. The extended Huygens principle is a completeness relation for pulsed beams, giving a representation of a general radiation field as a superposition of such beams. Furthermore, it naturally yields a very efficient way to compute radiation fields because all pulsed beams missing a given observer can be ignored. Increasing $a$ sharpens the focus of the pulsed beams, which in turn raises the compression of the representation.Comment: 49 pages, 14 figure

FDG-PET/CT Imaging Predicts Histopathologic Treatment Responses after Neoadjuvant Therapy in Adult Primary Bone Sarcomas

Purpose. The aim of this study was to prospectively evaluate whether FDG-PET allows an accurate assessment of histopathologic response to neoadjuvant treatment in adult patients with primary bone sarcomas. Methods. Twelve consecutive patients with resectable, primary high grade bone sarcomas were enrolled prospectively. FDG-PET/CT imaging was performed prior to the initiation and after completion of neoadjuvant treatment. Imaging findings were correlated with histopathologic response. Results. Histopathologic responders showed significantly more pronounced decreases in tumor FDG-SUVmax from baseline to late follow up than non-responders (64 ± 19% versus 29 ± 30 %, resp.; P = .03). Using a 60% decrease in tumor FDG-uptake as a threshold for metabolic response correctly classified 3 of 4 histopathologic responders and 7 of 8 histopathologic non-responders as metabolic responders and non-responders, respectively (sensitivity, 75%; specificity, 88%). Conclusion. These results suggest that changes in FDG-SUVmax at the end of neoadjuvant treatment can identify histopathologic responders and non-responders in adult primary bone sarcoma patients